message_generation tests from rosjava_core.

message_generation/build.gradle

@@ -15,13 +15,14 @@
  */
 
 dependencies {
-  compile "com.google.guava:guava:12.0"
-  compile "commons-pool:commons-pool:1.6"
-  compile "io.netty:netty:3.5.2.Final"
-  compile "org.apache.commons:com.springsource.org.apache.commons.codec:1.3.0"
-  compile "org.apache.commons:com.springsource.org.apache.commons.io:1.4.0"
-  compile "org.apache.commons:com.springsource.org.apache.commons.lang:2.4.0"
-  testCompile "junit:junit:4.8.2"
+  compile 'io.netty:netty:3.5.2.Final'
+  compile 'com.google.guava:guava:12.0'
+  compile 'org.apache.commons:com.springsource.org.apache.commons.codec:1.3.0'
+  compile 'org.apache.commons:com.springsource.org.apache.commons.io:1.4.0'
+  compile 'commons-pool:commons-pool:1.6'
+  compile 'org.apache.commons:com.springsource.org.apache.commons.lang:2.4.0'
+  compile project(':gradle_plugins')
+  testCompile 'junit:junit:4.8.2'
 }
 
 apply plugin: "application"

message_generation/src/test/java/org/ros/internal/message/Md5GeneratorTest.java

+/*
+ * Copyright (C) 2011 Google Inc.
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ * 
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.internal.message;
+
+import static org.junit.Assert.assertEquals;
+
+import org.ros.internal.message.definition.MessageDefinitionProviderChain;
+
+import org.junit.Before;
+import org.junit.Test;
+import org.ros.internal.message.service.ServiceDefinitionResourceProvider;
+import org.ros.internal.message.service.ServiceDescription;
+import org.ros.internal.message.service.ServiceDescriptionFactory;
+import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
+import org.ros.internal.message.topic.TopicDescription;
+import org.ros.internal.message.topic.TopicDescriptionFactory;
+
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class Md5GeneratorTest {
+
+  private TopicDescriptionFactory topicDescriptionFactory;
+  private ServiceDescriptionFactory serviceDescriptionFactory;
+
+  @Before
+  public void setUp() {
+    MessageDefinitionProviderChain messageDefinitionProviderChain =
+        new MessageDefinitionProviderChain();
+    messageDefinitionProviderChain
+        .addMessageDefinitionProvider(new TopicDefinitionResourceProvider());
+    messageDefinitionProviderChain
+        .addMessageDefinitionProvider(new ServiceDefinitionResourceProvider());
+    topicDescriptionFactory = new TopicDescriptionFactory(messageDefinitionProviderChain);
+    serviceDescriptionFactory = new ServiceDescriptionFactory(messageDefinitionProviderChain);
+  }
+
+  @Test
+  public void testPrimitives() {
+    TopicDescription topicDescription =
+        topicDescriptionFactory.newFromType("test_msgs/TestPrimitives");
+    assertEquals("3e70f428a22c0d26ca67f87802c8e00f", topicDescription.getMd5Checksum());
+  }
+
+  @Test
+  public void testString() {
+    TopicDescription topicDescription = topicDescriptionFactory.newFromType("test_msgs/TestString");
+    assertEquals("334ff4377be93faa44ebc66d23d40fd3", topicDescription.getMd5Checksum());
+  }
+
+  @Test
+  public void testHeader() {
+    TopicDescription topicDescription = topicDescriptionFactory.newFromType("test_msgs/TestHeader");
+    assertEquals("4b5a00f536da2f756ba6aebcf795a967", topicDescription.getMd5Checksum());
+  }
+
+  @Test
+  public void testArrays() {
+    TopicDescription topicDescription = topicDescriptionFactory.newFromType("test_msgs/TestArrays");
+    assertEquals("4cc9b5e2cebe791aa3e994f5bc159eb6", topicDescription.getMd5Checksum());
+  }
+
+  @Test
+  public void testComposite() {
+    TopicDescription topicDescription = topicDescriptionFactory.newFromType("test_msgs/Composite");
+    assertEquals("d8fb6eb869ad3956b50e8737d96dc9fa", topicDescription.getMd5Checksum());
+  }
+
+  @Test
+  public void testOdometry() {
+    TopicDescription topicDescription = topicDescriptionFactory.newFromType("nav_msgs/Odometry");
+    assertEquals("cd5e73d190d741a2f92e81eda573aca7", topicDescription.getMd5Checksum());
+  }
+
+  @Test
+  public void testEmpty() {
+    ServiceDescription serviceDescription = serviceDescriptionFactory.newFromType("std_srvs/Empty");
+    assertEquals("d41d8cd98f00b204e9800998ecf8427e", serviceDescription.getMd5Checksum());
+  }
+
+  @Test
+  public void testAddTwoInts() {
+    ServiceDescription serviceDescription =
+        serviceDescriptionFactory.newFromType("test_msgs/AddTwoInts");
+    assertEquals("6a2e34150c00229791cc89ff309fff21", serviceDescription.getMd5Checksum());
+  }
+
+  @Test
+  public void testTransitiveSrv() {
+    ServiceDescription serviceDescription =
+        serviceDescriptionFactory.newFromType("test_msgs/TransitiveSrv");
+    assertEquals("8b7918ee2b81eaf825f4c70de011f6fa", serviceDescription.getMd5Checksum());
+  }
+}

message_generation/src/test/java/org/ros/internal/message/MessageInterfaceBuilderTest.java

+/*
+ * Copyright (C) 2012 Google Inc.
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ * 
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.internal.message;
+
+import static org.junit.Assert.assertEquals;
+
+import org.junit.Before;
+import org.junit.Test;
+import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
+import org.ros.message.MessageDeclaration;
+import org.ros.message.MessageFactory;
+
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class MessageInterfaceBuilderTest {
+
+  private TopicDefinitionResourceProvider topicDefinitionResourceProvider;
+  private MessageFactory messageFactory;
+
+  @Before
+  public void before() {
+    topicDefinitionResourceProvider = new TopicDefinitionResourceProvider();
+    messageFactory = new DefaultMessageFactory(topicDefinitionResourceProvider);
+  }
+
+  @Test
+  public void testDuplicateFieldNames() {
+    MessageInterfaceBuilder builder = new MessageInterfaceBuilder();
+    builder.setPackageName("foo");
+    builder.setInterfaceName("bar");
+    builder.setMessageDeclaration(MessageDeclaration.of("foo/bar", "int32 foo\nint32 Foo"));
+    builder.setAddConstantsAndMethods(true);
+    String result = builder.build(messageFactory);
+    assertEquals("package foo;\n\n"
+        + "public interface bar extends org.ros.internal.message.Message {\n"
+        + "  static final java.lang.String _TYPE = \"foo/bar\";\n"
+        + "  static final java.lang.String _DEFINITION = \"int32 foo\\nint32 Foo\";\n"
+        + "  int getFoo();\n" + "  void setFoo(int value);\n" + "}\n", result);
+  }
+}

message_generation/src/test/java/org/ros/internal/message/MessageTest.java

+/*
+ * Copyright (C) 2011 Google Inc.
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ * 
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.internal.message;
+
+import static org.junit.Assert.assertEquals;
+
+import com.google.common.collect.Lists;
+
+import org.junit.Before;
+import org.junit.Test;
+import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
+import org.ros.message.MessageFactory;
+
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class MessageTest {
+
+  private TopicDefinitionResourceProvider topicDefinitionResourceProvider;
+  private MessageFactory messageFactory;
+
+  @Before
+  public void before() {
+    topicDefinitionResourceProvider = new TopicDefinitionResourceProvider();
+    messageFactory = new DefaultMessageFactory(topicDefinitionResourceProvider);
+  }
+
+  @Test
+  public void testCreateEmptyMessage() {
+    topicDefinitionResourceProvider.add("foo/foo", "");
+    messageFactory.newFromType("foo/foo");
+  }
+
+  @Test
+  public void testCreateEmptyMessageWithBlankLines() {
+    topicDefinitionResourceProvider.add("foo/foo", "\n\n\n\n\n");
+    messageFactory.newFromType("foo/foo");
+  }
+
+  @Test
+  public void testString() {
+    String data = "Hello, ROS!";
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/String");
+    rawMessage.setString("data", data);
+    assertEquals(data, rawMessage.getString("data"));
+  }
+
+  @Test
+  public void testStringWithComments() {
+    topicDefinitionResourceProvider.add("foo/foo", "# foo\nstring data\n    # string other data");
+    String data = "Hello, ROS!";
+    RawMessage rawMessage = messageFactory.newFromType("foo/foo");
+    rawMessage.setString("data", data);
+    assertEquals(data, rawMessage.getString("data"));
+  }
+
+  @Test
+  public void testInt8() {
+    byte data = 42;
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int8");
+    rawMessage.setInt8("data", data);
+    assertEquals(data, rawMessage.getInt8("data"));
+  }
+
+  @Test
+  public void testNestedMessage() {
+    topicDefinitionResourceProvider.add("foo/foo", "bar data");
+    topicDefinitionResourceProvider.add("foo/bar", "int8 data");
+    RawMessage fooMessage = messageFactory.newFromType("foo/foo");
+    RawMessage barMessage = messageFactory.newFromType("foo/bar");
+    fooMessage.setMessage("data", barMessage);
+    byte data = 42;
+    barMessage.setInt8("data", data);
+    assertEquals(data, fooMessage.getMessage("data").toRawMessage().getInt8("data"));
+  }
+
+  @Test
+  public void testNestedMessageList() {
+    topicDefinitionResourceProvider.add("foo/foo", "bar[] data");
+    topicDefinitionResourceProvider.add("foo/bar", "int8 data");
+    RawMessage fooMessage = messageFactory.newFromType("foo/foo");
+    RawMessage barMessage = messageFactory.newFromType("foo/bar");
+    fooMessage.setMessageList("data", Lists.<Message>newArrayList(barMessage));
+    byte data = 42;
+    barMessage.toRawMessage().setInt8("data", data);
+    assertEquals(data, fooMessage.getMessageList("data").get(0).toRawMessage().getInt8("data"));
+  }
+
+  @Test
+  public void testConstantInt8() {
+    topicDefinitionResourceProvider.add("foo/foo", "int8 data=42");
+    RawMessage rawMessage = messageFactory.newFromType("foo/foo");
+    assertEquals(42, rawMessage.getInt8("data"));
+  }
+
+  @Test
+  public void testConstantString() {
+    topicDefinitionResourceProvider.add("foo/foo", "string data=Hello, ROS! # comment ");
+    RawMessage rawMessage = messageFactory.newFromType("foo/foo");
+    assertEquals("Hello, ROS! # comment", rawMessage.getString("data"));
+  }
+
+  public void testInt8List() {
+    topicDefinitionResourceProvider.add("foo/foo", "int8[] data");
+    RawMessage rawMessage = messageFactory.newFromType("foo/foo");
+    byte[] data = new byte[] { (byte) 1, (byte) 2, (byte) 3 };
+    rawMessage.setInt8Array("data", data);
+    assertEquals(data, rawMessage.getInt8Array("data"));
+  }
+}
\ No newline at end of file

message_generation/src/test/java/org/ros/internal/message/RawMessageSerializationTest.java

+/*
+ * Copyright (C) 2011 Google Inc.
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ * 
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.internal.message;
+
+import static org.junit.Assert.assertTrue;
+
+import com.google.common.collect.Lists;
+
+import org.jboss.netty.buffer.ChannelBuffer;
+import org.junit.Before;
+import org.junit.Test;
+import org.ros.internal.message.topic.TopicDefinitionResourceProvider;
+import org.ros.message.Duration;
+import org.ros.message.MessageFactory;
+import org.ros.message.Time;
+
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class RawMessageSerializationTest {
+
+  private TopicDefinitionResourceProvider topicDefinitionResourceProvider;
+  private MessageFactory messageFactory;
+
+  @Before
+  public void before() {
+    topicDefinitionResourceProvider = new TopicDefinitionResourceProvider();
+    messageFactory = new DefaultMessageFactory(topicDefinitionResourceProvider);
+  }
+
+  private void checkSerializeAndDeserialize(Message message) {
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    DefaultMessageSerializer serializer = new DefaultMessageSerializer();
+    serializer.serialize(message, buffer);
+    DefaultMessageDeserializer<RawMessage> deserializer =
+        new DefaultMessageDeserializer<RawMessage>(message.toRawMessage().getIdentifier(),
+            messageFactory);
+    RawMessage deserializedMessage = deserializer.deserialize(buffer);
+    assertTrue(message.equals(deserializedMessage));
+  }
+
+  @Test
+  public void testBool() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/Bool");
+    rawMessage.setBool("data", true);
+    checkSerializeAndDeserialize(rawMessage);
+    rawMessage.setBool("data", false);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testInt8() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int8");
+    rawMessage.setInt8("data", (byte) 42);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testUint8() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/UInt8");
+    rawMessage.setUInt8("data", (byte) 42);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testInt16() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int16");
+    rawMessage.setInt16("data", (short) 42);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testUInt16() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/UInt16");
+    rawMessage.setUInt16("data", (short) 42);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testInt32() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int32");
+    rawMessage.setInt32("data", 42);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testUInt32() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/UInt32");
+    rawMessage.setUInt32("data", 42);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testInt64() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/Int64");
+    rawMessage.setInt64("data", 42);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testUInt64() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/UInt64");
+    rawMessage.setUInt64("data", 42);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testFloat32() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/Float32");
+    rawMessage.setFloat32("data", 42);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testFloat64() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/Float64");
+    rawMessage.setFloat64("data", 42);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testString() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/String");
+    rawMessage.setString("data", "Hello, ROS!");
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testTime() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/Time");
+    rawMessage.setTime("data", new Time());
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testDuration() {
+    RawMessage rawMessage = messageFactory.newFromType("std_msgs/Duration");
+    rawMessage.setDuration("data", new Duration());
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testNestedMessage() {
+    topicDefinitionResourceProvider.add("foo/foo", "std_msgs/String data");
+    RawMessage fooMessage = messageFactory.newFromType("foo/foo");
+    RawMessage stringMessage = messageFactory.newFromType("std_msgs/String");
+    stringMessage.setString("data", "Hello, ROS!");
+    fooMessage.setMessage("data", stringMessage);
+    checkSerializeAndDeserialize(fooMessage);
+  }
+
+  @Test
+  public void testNestedMessageArray() {
+    topicDefinitionResourceProvider.add("foo/foo", "std_msgs/String[] data");
+    RawMessage fooMessage = messageFactory.newFromType("foo/foo");
+    RawMessage stringMessageA = messageFactory.newFromType("std_msgs/String");
+    stringMessageA.setString("data", "Hello, ROS!");
+    RawMessage stringMessageB = messageFactory.newFromType("std_msgs/String");
+    stringMessageB.setString("data", "Goodbye, ROS!");
+    fooMessage.setMessageList("data", Lists.<Message>newArrayList(stringMessageA, stringMessageB));
+    checkSerializeAndDeserialize(fooMessage);
+  }
+
+  @Test
+  public void testChannelBuffer() {
+    topicDefinitionResourceProvider.add("foo/foo", "uint8[] data");
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    buffer.writeBytes(new byte[] { 1, 2, 3, 4, 5 });
+    RawMessage rawMessage = messageFactory.newFromType("foo/foo");
+    rawMessage.setChannelBuffer("data", buffer);
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testInt32Array() {
+    topicDefinitionResourceProvider.add("foo/foo", "int32[] data");
+    RawMessage rawMessage = messageFactory.newFromType("foo/foo");
+    rawMessage.setInt32Array("data", new int[] { 1, 2, 3, 4, 5 });
+    checkSerializeAndDeserialize(rawMessage);
+  }
+
+  @Test
+  public void testFloat64Array() {
+    topicDefinitionResourceProvider.add("foo/foo", "float64[] data");
+    RawMessage rawMessage = messageFactory.newFromType("foo/foo");
+    rawMessage.setFloat64Array("data", new double[] { 1, 2, 3, 4, 5 });
+    checkSerializeAndDeserialize(rawMessage);
+  }
+}

message_generation/src/test/java/org/ros/internal/message/ServiceTest.java

+/*
+ * Copyright (C) 2011 Google Inc.
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ * 
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.internal.message;
+
+import org.junit.Before;
+import org.junit.Test;
+import org.ros.internal.message.service.ServiceDefinitionResourceProvider;
+import org.ros.internal.message.service.ServiceRequestMessageFactory;
+import org.ros.internal.message.service.ServiceResponseMessageFactory;
+
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class ServiceTest {
+
+  private ServiceDefinitionResourceProvider serviceDefinitionResourceProvider;
+  private ServiceRequestMessageFactory serviceRequestMessageFactory;
+  private ServiceResponseMessageFactory serviceResponseMessageFactory;
+
+  @Before
+  public void setUp() {
+    serviceDefinitionResourceProvider = new ServiceDefinitionResourceProvider();
+    serviceDefinitionResourceProvider.add("foo/Echo", "string data\n---\nstring data");
+    serviceRequestMessageFactory =
+        new ServiceRequestMessageFactory(serviceDefinitionResourceProvider);
+    serviceResponseMessageFactory =
+        new ServiceResponseMessageFactory(serviceDefinitionResourceProvider);
+  }
+
+  @Test
+  public void testCreateEchoService() {
+    RawMessage request = serviceRequestMessageFactory.newFromType("foo/Echo");
+    RawMessage response = serviceResponseMessageFactory.newFromType("foo/Echo");
+    request.setString("data", "Hello, ROS!");
+    response.setString("data", "Hello, ROS!");
+  }
+}

message_generation/src/test/java/org/ros/internal/message/field/ArrayFieldTest.java

+/*
+ * Copyright (C) 2012 Google Inc.
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ * 
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.internal.message.field;
+
+import static org.junit.Assert.assertArrayEquals;
+import static org.junit.Assert.assertEquals;
+
+import org.ros.internal.message.MessageBuffers;
+
+import org.jboss.netty.buffer.ChannelBuffer;
+import org.junit.Test;
+
+/**
+ * The following unit tests were created by inspecting the serialization of
+ * array fields using the ROS Python client library.
+ * 
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class ArrayFieldTest {
+
+  @Test
+  public void testBooleanArrayFieldVariableSize() {
+    BooleanArrayField field = BooleanArrayField.newVariable("foo", -1);
+    boolean[] value = new boolean[] { true, false, true, false };
+    field.setValue(value);
+    assertEquals(PrimitiveFieldType.BOOL, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected = new byte[] { 4, 0, 0, 0, 1, 0, 1, 0 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testBooleanArrayFieldFixedSize() {
+    BooleanArrayField field = BooleanArrayField.newVariable("foo", 4);
+    field.setValue(new boolean[] { true, false, true, false });
+    assertEquals(PrimitiveFieldType.BOOL, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected = new byte[] { 1, 0, 1, 0 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @SuppressWarnings("deprecation")
+  @Test
+  public void testByteArrayFieldVariableSize() {
+    testByteArrayFieldVariableSize(PrimitiveFieldType.INT8);
+    testByteArrayFieldVariableSize(PrimitiveFieldType.BYTE);
+    testByteArrayFieldVariableSize(PrimitiveFieldType.UINT8);
+    testByteArrayFieldVariableSize(PrimitiveFieldType.CHAR);
+  }
+
+  private void testByteArrayFieldVariableSize(FieldType type) {
+    ByteArrayField field = ByteArrayField.newVariable(type, "foo", -1);
+    field.setValue(new byte[] { 1, 2, 3, 4 });
+    assertEquals(type, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected = new byte[] { 4, 0, 0, 0, 1, 2, 3, 4 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @SuppressWarnings("deprecation")
+  @Test
+  public void testByteArrayFieldFixedSize() {
+    testByteArrayFieldFixedSize(PrimitiveFieldType.INT8);
+    testByteArrayFieldFixedSize(PrimitiveFieldType.BYTE);
+    testByteArrayFieldFixedSize(PrimitiveFieldType.UINT8);
+    testByteArrayFieldFixedSize(PrimitiveFieldType.CHAR);
+  }
+
+  private void testByteArrayFieldFixedSize(FieldType type) {
+    ByteArrayField field = ByteArrayField.newVariable(type, "foo", 4);
+    field.setValue(new byte[] { 1, 2, 3, 4 });
+    assertEquals(type, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected = new byte[] { 1, 2, 3, 4 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testDoubleArrayFieldVariableSize() {
+    DoubleArrayField field = DoubleArrayField.newVariable("foo", -1);
+    field.setValue(new double[] { 1, 2, 3, 4 });
+    assertEquals(PrimitiveFieldType.FLOAT64, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected =
+        new byte[] { 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, -16, 63, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0, 0, 0,
+            0, 8, 64, 0, 0, 0, 0, 0, 0, 16, 64 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testDoubleArrayFieldFixedSize() {
+    DoubleArrayField field = DoubleArrayField.newVariable("foo", 4);
+    field.setValue(new double[] { 1, 2, 3, 4 });
+    assertEquals(PrimitiveFieldType.FLOAT64, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected =
+        new byte[] { 0, 0, 0, 0, 0, 0, -16, 63, 0, 0, 0, 0, 0, 0, 0, 64, 0, 0, 0, 0, 0, 0, 8, 64,
+            0, 0, 0, 0, 0, 0, 16, 64 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testFloatArrayFieldVariableSize() {
+    FloatArrayField field = FloatArrayField.newVariable("foo", -1);
+    field.setValue(new float[] { 1, 2, 3, 4 });
+    assertEquals(PrimitiveFieldType.FLOAT32, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected =
+        new byte[] { 4, 0, 0, 0, 0, 0, -128, 63, 0, 0, 0, 64, 0, 0, 64, 64, 0, 0, -128, 64 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testFloatArrayFieldFixedSize() {
+    FloatArrayField field = FloatArrayField.newVariable("foo", 4);
+    field.setValue(new float[] { 1, 2, 3, 4 });
+    assertEquals(PrimitiveFieldType.FLOAT32, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected = new byte[] { 0, 0, -128, 63, 0, 0, 0, 64, 0, 0, 64, 64, 0, 0, -128, 64 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testIntegerArrayFieldVariableSize() {
+    testIntegerArrayFieldVariableSize(PrimitiveFieldType.INT32);
+    testIntegerArrayFieldVariableSize(PrimitiveFieldType.UINT32);
+  }
+
+  private void testIntegerArrayFieldVariableSize(FieldType type) {
+    IntegerArrayField field = IntegerArrayField.newVariable(type, "foo", -1);
+    field.setValue(new int[] { 1, 2, 3, 4 });
+    assertEquals(type, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected = new byte[] { 4, 0, 0, 0, 1, 0, 0, 0, 2, 0, 0, 0, 3, 0, 0, 0, 4, 0, 0, 0 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testIntegerArrayFieldFixedSize() {
+    testIntegerArrayFieldFixedSize(PrimitiveFieldType.INT32);
+    testIntegerArrayFieldFixedSize(PrimitiveFieldType.UINT32);
+  }
+
+  private void testIntegerArrayFieldFixedSize(FieldType type) {
+    IntegerArrayField field = IntegerArrayField.newVariable(type, "foo", 4);
+    field.setValue(new int[] { 1, 2, 3, 4 });
+    assertEquals(type, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected = new byte[] { 1, 0, 0, 0, 2, 0, 0, 0, 3, 0, 0, 0, 4, 0, 0, 0 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testLongArrayFieldVariableSize() {
+    testLongArrayFieldVariableSize(PrimitiveFieldType.INT64);
+    testLongArrayFieldVariableSize(PrimitiveFieldType.UINT64);
+  }
+
+  private void testLongArrayFieldVariableSize(FieldType type) {
+    LongArrayField field = LongArrayField.newVariable(type, "foo", -1);
+    field.setValue(new long[] { 1, 2, 3, 4 });
+    assertEquals(type, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected =
+        new byte[] { 4, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0,
+            0, 0, 4, 0, 0, 0, 0, 0, 0, 0 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testLongArrayFieldFixedSize() {
+    testLongArrayFieldFixedSize(PrimitiveFieldType.INT64);
+    testLongArrayFieldFixedSize(PrimitiveFieldType.UINT64);
+  }
+
+  private void testLongArrayFieldFixedSize(FieldType type) {
+    LongArrayField field = LongArrayField.newVariable(type, "foo", 4);
+    field.setValue(new long[] { 1, 2, 3, 4 });
+    assertEquals(type, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected =
+        new byte[] { 1, 0, 0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 4, 0,
+            0, 0, 0, 0, 0, 0 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testShortArrayFieldVariableSize() {
+    testShortArrayFieldVariableSize(PrimitiveFieldType.INT16);
+    testShortArrayFieldVariableSize(PrimitiveFieldType.UINT16);
+  }
+
+  private void testShortArrayFieldVariableSize(FieldType type) {
+    ShortArrayField field = ShortArrayField.newVariable(type, "foo", -1);
+    field.setValue(new short[] { 1, 2, 3, 4 });
+    assertEquals(type, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected = new byte[] { 4, 0, 0, 0, 1, 0, 2, 0, 3, 0, 4, 0 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+
+  @Test
+  public void testShortArrayFieldFixedSize() {
+    testShortArrayFieldFixedSize(PrimitiveFieldType.INT16);
+    testShortArrayFieldFixedSize(PrimitiveFieldType.UINT16);
+  }
+
+  private void testShortArrayFieldFixedSize(FieldType type) {
+    ShortArrayField field = ShortArrayField.newVariable(type, "foo", 4);
+    field.setValue(new short[] { 1, 2, 3, 4 });
+    assertEquals(type, field.getType());
+    ChannelBuffer buffer = MessageBuffers.dynamicBuffer();
+    field.serialize(buffer);
+    byte[] expected = new byte[] { 1, 0, 2, 0, 3, 0, 4, 0 };
+    byte[] actual = new byte[buffer.readableBytes()];
+    buffer.readBytes(actual);
+    assertArrayEquals(expected, actual);
+  }
+}

message_generation/src/test/java/org/ros/message/DurationTest.java

+/*
+ * Copyright (C) 2011 Google Inc.
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ * 
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.message;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+import org.junit.Before;
+import org.junit.Test;
+
+/**
+ * @author kwc@willowgarage.com (Ken Conley)
+ */
+public class DurationTest {
+
+  @Before
+  public void setUp()  {
+  }
+
+  @Test
+  public void testConstructor() {
+    // Test no args constructor.
+    Duration t = new Duration();
+    assertEquals(0, t.nsecs);
+    assertEquals(0, t.secs);
+      
+    // Test secs/nsecs constructor with no normalization.
+    t = new Duration(1, 2);
+    assertEquals(1, t.secs);
+    assertEquals(2, t.nsecs);
+
+    // Test secs/nsecs constructor with normalization.
+    t = new Duration(2, -1);
+    assertEquals(1, t.secs);
+    assertEquals(1000000000 - 1, t.nsecs);
+    
+    t = new Duration(2, 1000000000 + 2);
+    assertEquals(3, t.secs);
+    assertEquals(2, t.nsecs);
+  }
+  
+  @Test
+  public void testNormalize() { 
+    Duration d = new Duration(0, 0);
+    d.secs = 1;
+    d.nsecs = 1000000000;
+    d.normalize();
+    assertEquals(2, d.secs);
+    assertEquals(0, d.nsecs);
+    
+    d.secs = 1;
+    d.nsecs = -1;
+    d.normalize();
+    assertEquals(0, d.secs);
+    assertEquals(1000000000-1, d.nsecs);
+  }
+  
+  @Test
+  public void testIsZero() {
+    assertTrue(new Duration(0, 0).isZero());
+    assertFalse(new Duration(1, 0).isZero());
+    assertFalse(new Duration(0, 1).isZero());
+  }
+  
+  @Test
+  public void testComparable() {
+    assertEquals(0, new Duration(0, 0).compareTo(new Duration(0, 0)));
+    assertEquals(0, new Duration(1, 0).compareTo(new Duration(1, 0)));
+    
+    assertTrue(new Duration(0, 0).compareTo(new Duration(0, -1)) > 0);
+    assertTrue(new Duration(0, -1).compareTo(new Duration(0, 0)) < 0);
+    
+    assertTrue(new Duration(0, 0).compareTo(new Duration(-1, 0)) > 0);
+    assertTrue(new Duration(-1, 0).compareTo(new Duration(0, 0)) < 0);
+    
+    assertTrue(new Duration(1, 0).compareTo(new Duration(0, 0)) > 0);
+    assertTrue(new Duration(0, 0).compareTo(new Duration(1, 0)) < 0);
+    
+    assertTrue(new Duration(0, 1).compareTo(new Duration(0, 0)) > 0);
+    assertTrue(new Duration(0, 0).compareTo(new Duration(0, 1)) < 0);
+  }
+}
\ No newline at end of file

message_generation/src/test/java/org/ros/message/TimeTest.java

+/*
+ * Copyright (C) 2011 Google Inc.
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ * 
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.message;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+import org.junit.Before;
+import org.junit.Test;
+
+/**
+ * @author kwc@willowgarage.com (Ken Conley)
+ */
+public class TimeTest {
+
+  @Before
+  public void setUp() {
+  }
+
+  @Test
+  public void testConstructor() {
+    // Test no args constructor.
+    Time t = new Time();
+    assertEquals(0, t.nsecs);
+    assertEquals(0, t.secs);
+
+    // Test secs/nsecs constructor with no normalization.
+    t = new Time(1, 2);
+    assertEquals(1, t.secs);
+    assertEquals(2, t.nsecs);
+
+    // Test secs/nsecs constructor with normalization.
+    t = new Time(2, -1);
+    assertEquals(1, t.secs);
+    assertEquals(1000000000 - 1, t.nsecs);
+
+    t = new Time(2, 1000000000 + 2);
+    assertEquals(3, t.secs);
+    assertEquals(2, t.nsecs);
+  }
+
+  @Test
+  public void testFromMillis() {
+    assertEquals(new Time(0, 0), Time.fromMillis(0));
+    assertEquals(new Time(0, 1000000), Time.fromMillis(1));
+    assertEquals(new Time(1, 0), Time.fromMillis(1000));
+    assertEquals(new Time(10, 0), Time.fromMillis(10000));
+    assertEquals(new Time(1, 1000000), Time.fromMillis(1001));
+    assertEquals(new Time(1, 11000000), Time.fromMillis(1011));
+  }
+
+  @Test
+  public void testNormalize() {
+    Time t = new Time(0, 0);
+    t.secs = 1;
+    t.nsecs = 1000000000;
+    t.normalize();
+    assertEquals(2, t.secs);
+    assertEquals(0, t.nsecs);
+
+    t.secs = 1;
+    t.nsecs = -1;
+    t.normalize();
+    assertEquals(0, t.secs);
+    assertEquals(1000000000 - 1, t.nsecs);
+  }
+
+  @Test
+  public void testIsZero() {
+    assertTrue(new Time(0, 0).isZero());
+    assertFalse(new Time(1, 0).isZero());
+    assertFalse(new Time(0, 1).isZero());
+  }
+
+  @Test
+  public void testComparable() {
+    assertEquals(0, new Time(0, 0).compareTo(new Time(0, 0)));
+    assertEquals(0, new Time(1, 1).compareTo(new Time(1, 1)));
+    assertTrue(new Time(0, 1).compareTo(new Time(0, 0)) > 0);
+    
+    assertEquals(-1, new Time(0, 0).compareTo(new Time(0, 1)));
+    assertTrue(new Time(0, 0).compareTo(new Time(0, 1)) < 0);
+    assertTrue(new Time(1, 0).compareTo(new Time(0, 0)) > 0);
+    assertTrue(new Time(0, 0).compareTo(new Time(1, 0)) < 0);
+
+  }
+}
\ No newline at end of file

message_generation/src/test/resources/geometry_msgs/msg/Point.msg

+# This contains the position of a point in free space
+float64 x
+float64 y
+float64 z

message_generation/src/test/resources/geometry_msgs/msg/Point32.msg

+# This contains the position of a point in free space(with 32 bits of precision).
+# It is recommeded to use Point wherever possible instead of Point32.  
+# 
+# This recommendation is to promote interoperability.  
+#
+# This message is designed to take up less space when sending
+# lots of points at once, as in the case of a PointCloud.  
+
+float32 x
+float32 y
+float32 z
\ No newline at end of file

message_generation/src/test/resources/geometry_msgs/msg/PointStamped.msg

+# This represents a Point with reference coordinate frame and timestamp
+Header header
+Point point

message_generation/src/test/resources/geometry_msgs/msg/Polygon.msg

+#A specification of a polygon where the first and last points are assumed to be connected
+Point32[] points

message_generation/src/test/resources/geometry_msgs/msg/PolygonStamped.msg

+# This represents a Polygon with reference coordinate frame and timestamp
+Header header
+Polygon polygon

message_generation/src/test/resources/geometry_msgs/msg/Pose.msg

+# A representation of pose in free space, composed of postion and orientation. 
+Point position
+Quaternion orientation

message_generation/src/test/resources/geometry_msgs/msg/Pose2D.msg

+# This expresses a position and orientation on a 2D manifold.
+
+float64 x
+float64 y
+float64 theta
\ No newline at end of file

message_generation/src/test/resources/geometry_msgs/msg/PoseArray.msg

+# An array of poses with a header for global reference.
+
+Header header
+
+Pose[] poses

message_generation/src/test/resources/geometry_msgs/msg/PoseStamped.msg

+# A Pose with reference coordinate frame and timestamp
+Header header
+Pose pose

message_generation/src/test/resources/geometry_msgs/msg/PoseWithCovariance.msg

+# This represents a pose in free space with uncertainty.
+
+Pose pose
+
+# Row-major representation of the 6x6 covariance matrix
+# The orientation parameters use a fixed-axis representation.
+# In order, the parameters are:
+# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
+float64[36] covariance

message_generation/src/test/resources/geometry_msgs/msg/PoseWithCovarianceStamped.msg

+# This expresses an estimated pose with a reference coordinate frame and timestamp
+
+Header header
+PoseWithCovariance pose